CN117508421B - Follow-up positioning mechanism and vehicle assembly production line - Google Patents
Follow-up positioning mechanism and vehicle assembly production line Download PDFInfo
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- CN117508421B CN117508421B CN202410004019.7A CN202410004019A CN117508421B CN 117508421 B CN117508421 B CN 117508421B CN 202410004019 A CN202410004019 A CN 202410004019A CN 117508421 B CN117508421 B CN 117508421B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 112
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 28
- 238000009434 installation Methods 0.000 claims description 6
- 238000011144 upstream manufacturing Methods 0.000 description 4
- 238000000926 separation method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004382 visual function Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/06—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention provides a follow-up positioning mechanism, which comprises a follow-up chain and a clasping mechanism positioned on the follow-up chain; a retainer for retaining the component to be assembled is arranged on the production line, and the follow-up chain is arranged along the moving track of the retainer and the component to be assembled; a positioning part is arranged on the retainer or the part to be processed, and the positioning part can be contacted with the enclasping mechanism and push the enclasping mechanism to synchronously move; the follow-up chain bypasses the measuring chain wheel, an encoder is arranged on the measuring chain wheel and used for acquiring the rotation angle of the measuring chain wheel in real time. The invention also provides a vehicle assembly production line which comprises the follow-up positioning mechanism. By adopting the technical scheme, the capturing of the real-time position of the part to be processed is realized, so that the control system is convenient for accurately controlling the manipulator to assemble the part to be processed.
Description
Technical Field
The invention relates to a follow-up positioning mechanism and a vehicle assembly production line, and belongs to the technical field of machining.
Background
In the field of whole car production lines, an automatic assembly technology is always a core concern of the car manufacturing industry. Manufacturers are continually seeking innovative assembly line systems in order to improve production efficiency, reduce labor costs, and ensure product quality. However, conventional assembly line systems still present a series of challenges in component capture and positioning that limit to some extent the performance and applicability of the production line.
In a complex production environment, it is difficult to arrange a sensing system for capturing the position of a component in real time, a large number of sensors with different positions and angles are required to be arranged, and the arrangement of the sensors is more and complex; second, the wiring process may be limited by factory configuration and device layout, resulting in limited sensor location options, affecting capture accuracy. In addition, the wired sensor is susceptible to external environmental disturbances, such as electromagnetic interference or object collisions, thereby reducing the stability of the system.
The accuracy of position capture is challenging with conventional mounting systems when the processing components are moving rapidly and dynamically. Conventional systems often have difficulty capturing the real-time position of the part in a timely and accurate manner due to sudden changes in the speed and path of movement of the part on the production line. This may cause errors in the robot hand in performing the assembly task, thereby affecting the assembly accuracy and quality of the product.
Disclosure of Invention
It is therefore an object of the present invention to provide a follow-up positioning mechanism and a vehicle assembly line for achieving real-time position capturing of a component by making contact with the component and moving synchronously in a mechanically follow-up manner.
In order to achieve the above purpose, the invention provides a follow-up positioning mechanism, which comprises a follow-up chain and a clasping mechanism positioned on the follow-up chain; a retainer for retaining the component to be assembled is arranged on the production line, and the follow-up chain is arranged along the moving track of the retainer and the component to be assembled; a positioning part is arranged on the retainer or the part to be processed, and the positioning part can be contacted with the enclasping mechanism and push the enclasping mechanism to synchronously move; the follow-up chain bypasses the measuring chain wheel, an encoder is arranged on the measuring chain wheel and used for acquiring the rotation angle of the measuring chain wheel in real time.
The follow-up chain forms an inclined section at the tail part of the production line, the inclined section inclines towards the direction away from the retainer and the part to be processed, and when the enclasping mechanism moves to the inclined section, the inclined section is gradually away from the retainer and the part to be processed until the inclined section is separated from the positioning part.
The included angle between the inclined section and the horizontal plane is 3-7 degrees.
The holding mechanism is provided with an accommodating groove for accommodating the positioning part, and a notch of the accommodating groove is provided with a limiting piece for resisting one side, far away from the groove bottom, of the positioning part.
The limiting piece comprises a swinging block and a reset spring, a wedge-shaped surface is arranged on the side wall of the swinging block, the positioning part can be abutted to the wedge-shaped surface when entering the notch, and the reset spring is propped against one side of the swinging block opposite to the wedge-shaped surface.
The enclasping mechanism further comprises an installation seat, wherein the installation seat is fixed on the side wall of the accommodating groove, and the swinging block is hinged on the installation seat; a yielding groove is formed in the mounting seat, and the swinging block can enter the yielding groove; one end of the reset spring is propped against the mounting seat, and the other end of the reset spring is propped against the swinging block.
The follow-up positioning mechanism further comprises a supporting rail, and the supporting rail is used for supporting the enclasping mechanism.
The support rails are two arranged in parallel; the positioning part extends downwards vertically, and can enter between the two support rails after the retainer and the part to be processed enter the production line.
The follow-up chain bypasses a plurality of guide chain wheels to form a ring shape; the enclasping mechanisms are multiple groups, and each enclasping mechanism group is provided with at least one enclasping mechanism; the adjacent enclasping mechanism groups are equally spaced on the follow-up chain in stroke distance.
The invention also provides a vehicle assembly production line which comprises the follow-up positioning mechanism, a manipulator and a control system, wherein the encoder and the manipulator in the follow-up positioning mechanism are connected with the control system; the control system is used for calculating the moving stroke of the positioning part pushing the enclasping mechanism according to the measured sprocket rotating angle obtained by the encoder in real time, so that the moving part to be processed can be positioned in real time according to the moving stroke data, and the control system is used for controlling the mechanical arm to assemble the part to be processed.
By adopting the technical scheme, the follow-up positioning mechanism and the vehicle assembly production line have the following beneficial effects compared with the prior art:
1. the follow-up positioning mechanism adopts a mechanical structure to finish tracking and positioning of the part to be processed, and the follow-up positioning mechanism contacts with the part to be processed and synchronously moves, so that the capturing of the real-time position of the part to be processed is realized, and the control system is convenient for accurately controlling the manipulator to assemble the part to be processed.
2. Compared with the traditional wired sensor, the design of the invention eliminates the complexity and cost of wiring and improves the stability of the system. The flexibility and adaptation of the follower positioning mechanism enables it to move synchronously with the component, maintaining highly accurate position capture even in the face of components of different sizes, shapes or motion characteristics.
3. More importantly, the follow-up positioning mechanism is a mechanical system which is independent of the production line, and the independent normal operation of the whole production line is not interfered. The technical innovation is expected to reduce the production cost while improving the stability and the reliability of the production line, and brings more advanced and reliable automatic assembly technical solutions for the whole vehicle production line.
4. In addition, the following positioning mechanism of the invention can be defined as an 'eye' of the manipulator, which changes the thought of using the image acquisition device as an eye to guide the manipulator to work traditionally, and adds visual functions to the manipulator by adopting a pure mechanical structure.
5. According to the technical scheme, the design thought of the inclined section is skillfully utilized, the design thought of traditional electric connection and electric separation is abandoned by adopting a physical separation mode, the problems of poor contact, signal interference, easy damage and the like of the electric connection and the electric separation in practical application are avoided to a certain extent, the stability and the reliability of equipment can be improved, and the possibility of fault occurrence is reduced.
Drawings
Fig. 1 is a schematic structural view of a vehicle assembly line of the present invention.
Fig. 2 is a partial enlarged view of the portion a in fig. 1.
Fig. 3 is a schematic structural view of the servo positioning mechanism of the present invention.
Fig. 4 is a partial schematic view of a follower positioning mechanism.
Fig. 5 is a side view of fig. 4.
Fig. 6 is a schematic view of the mounting structure of the clasping mechanism.
Fig. 7 is a partial cross-sectional view of the cinching mechanism.
Fig. 8 is a schematic structural view of a follower chain.
Fig. 9 is a schematic view of the structure of the downstream end of the follower chain.
Fig. 10 is a schematic view of the structure of the upstream end of the follower chain.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1, the invention provides a vehicle assembling production line, which comprises a retainer 1 for retaining components to be assembled, a manipulator 2 positioned on a plurality of assembling stations, a driving device for driving the retainer 1 to move, a follow-up positioning mechanism and a control system. In this embodiment, taking an assembly line of doors as an example, a plurality of doors 3 of the automobile are arranged on the retainer 1, the retainer 1 is hung below the guide rail 4, and the driving device may be a motor chain driving assembly for driving the retainer 1 to move forward along the guide rail 4.
As shown in fig. 2-5, the follower positioning mechanism includes a support base 50, a support rail 51, a follower chain 52, and a hugging mechanism 53 on the follower chain 52, wherein the follower chain 52 is looped around a plurality of guide sprockets 54. The number of the enclasping mechanisms 53 is multiple, and each enclasping mechanism group can have one enclasping mechanism 53 or multiple enclasping mechanisms 53 arranged at intervals. A plurality of the clasping mechanism sets are also arranged at intervals on the follower chain 52. In the present embodiment, 3 clasping mechanisms 53 are provided in each clasping mechanism group. In each hug mechanism group, the spacing between adjacent hug mechanisms 53 may be slightly smaller than the spacing between corresponding positioning portions 11. The number of the enclasping mechanism groups is optimally a multiple of 3.
The travel distance between the adjacent enclasping mechanism groups is equal, namely, each enclasping mechanism group reaches the initial position of the enclasping mechanism group in front of the same travel distance after moving. In this embodiment, each clasping mechanism group is provided with two clasping mechanisms, front and rear, for cooperation with two positioning portions 11 on one holder 1 or the component to be assembled.
The follower chain 52 is arranged along the movement track of the holder 1 and the component to be assembled. The positioning portion 11 is provided on the holder 1 or the component to be assembled, and in this embodiment, the positioning portion 11 is a rod vertically protruding downward on the holder 1. The holding mechanism 53 is provided with a receiving groove 531, and the positioning portion 11 can enter the receiving groove 531 and push the holding mechanism 53 to move synchronously.
As shown in fig. 8, the follower chain 52 bypasses a plurality of tensioners, including a fixed tensioner 571 and an adjustable tensioner 572, and the tension of the follower chain 52 can be adjusted by adjusting the height of the adjustable tensioner 572. The follow-up chain 52 also bypasses the measuring sprocket 55, an encoder 56 is arranged on the shaft of the measuring sprocket 55, and the encoder 56 is used for acquiring the rotation angle of the measuring sprocket 55 in real time. When the retainer 1 and the component to be assembled move forward and the positioning part 11 enters the accommodating groove 531 of the holding mechanism 53 located on the receiving station, the holding mechanism 53 is driven to move synchronously along with the movement of the retainer 1 and the component to be assembled, so as to drive the follow-up chain 52 to start moving, the measuring chain wheel 55 also starts to rotate synchronously, the encoder 56 acquires the rotation angle of the measuring chain wheel 55 in real time and sends the acquired data to the control system in a wired or wireless manner, and the control system calculates the movement distance of the follow-up chain 52 according to the real-time rotation angle of the measuring chain wheel 55 and the effective radius thereof, wherein the movement distance is the movement distance of the component to be assembled, so that the real-time positioning of the component to be assembled is realized. When the part to be assembled moves to the assembling station, the control system controls the manipulator 2 to carry out the assembling operation, and even if the part to be assembled is always in a moving state with irregular speed, the control system can control the manipulator 2 to carry out the accurate operation due to the fact that the tracking and positioning are realized.
As shown in fig. 6 and 7, a stopper 532 for abutting against the side of the positioning portion 11 away from the groove bottom is provided at the notch of the accommodation groove 531 to prevent the disengagement from each other due to the inertia of the clasping mechanism 53 during the deceleration of the retainer 1. In this embodiment, the limiting member 532 includes a mounting base 532a, a swinging block 532b and a return spring 532c, wherein the mounting base 532a is fixed on a side wall of the accommodating groove 531, and the swinging block 532b is hinged to the mounting base 532 a. A relief groove 532d is formed in the mounting base 532a, and the swing block 532b can enter the relief groove 532 d; the return spring 532c has one end abutting against the mount 532a and the other end abutting against the swing block 532 b. A wedge surface 532e is provided on a side wall of the swing block 532b, and the positioning portion 11 can abut against the wedge surface 532e when entering the notch. Through the action of the limiting piece 532, the positioning part can only enter the accommodating groove in one direction, but cannot be separated from the accommodating groove in the opposite direction, so that the positioning part cannot be separated from the enclasping mechanism in the horizontal movement process.
The support rail 51 is provided with two parallel support rails, and is located between the two sets of follower chains 52 for supporting the clasping mechanism 53 and the retainer 1, and the retainer 1 is provided with a pole 12, and the pole 12 is mounted on the support rail 51. The positioning portion 11 can be inserted between the two support rails 51 when the holder 1 and the component to be processed enter an upstream station of the production line, guided by the support rails 51.
The follower chain 52 forms an inclined section 52a at the end of the production line, which inclined section 52a is inclined away from the holder 1 and the component to be processed, i.e. in this embodiment downwardly. The upper portion of the follower chain 52 is a horizontal segment 52b supported by at least two first guide sprockets 54a located at the same height. The second guide sprocket 54b at the downstream end is lower than the first guide sprocket 54a in height, the following chain 52 therebetween forms the inclined section 52a, as shown in fig. 9, when the clasping mechanism 53 leaves the first guide sprocket 54a, the inclined section 52 is entered, and the positioning portion 11 is still in contact with the clasping mechanism 53, but as the clasping mechanism 53 continues to move obliquely downward, relative displacement occurs between the clasping mechanism 53 and the positioning portion 11, that is, the clasping mechanism 53 moves downward with respect to the positioning portion 11; when the clasping mechanism 53 moves down to a position where it is separated from the positioning portion 11, the positioning portion 11 no longer applies a pushing force to the clasping mechanism 53 due to the loss of contact therebetween. When each clasping mechanism 53 in one clasping mechanism group is disengaged from the corresponding positioning portion 11, the follower chain 52 stops moving. In order to prevent the clasping mechanism 53 from continuing to move forward due to inertia, a damper may be provided on the guide sprocket 54. Since the travel distances between the adjacent enclasping mechanism groups are equal, when the plurality of enclasping mechanisms 53 in the previous enclasping mechanism group are separated from the corresponding positioning portions 11, the enclasping mechanism 53 of the next enclasping mechanism group just stops on the receiving station, and the first enclasping mechanism in the enclasping mechanism group is located on the horizontal segment 52b, and the rest of enclasping mechanisms are located below the horizontal segment, as shown in fig. 10.
The included angle between the inclined section 52a and the horizontal plane should be set within a reasonable range, and if the included angle is too large, the moving speed of the enclasping mechanism 53 on the inclined section 52a can be obviously accelerated with the speed of the retainer 1; if the included angle is too small, the length of the inclined section 52a will be too long and the occupied area will be large, so in this embodiment, the included angle between the inclined section 52a and the horizontal plane is 2 ° to 7 °.
As shown in fig. 9, the supporting rail 51 is divided into two sections corresponding to the inclined section 52a of the follower chain 52, namely, an upstream section 51a and a downstream section 51b, a first wedge-shaped surface 51a1 and a second wedge-shaped surface 51b1 are formed between the upstream section 51a and the downstream section 51b in parallel, a channel 510 is formed between the first wedge-shaped surface 51a1 and the second wedge-shaped surface 51b1 for passing through the clasping mechanism 53, and an included angle between the first wedge-shaped surface 51a1 and the second wedge-shaped surface 51b1 and a horizontal plane is 2 ° to 7 °. The passage 510 is accessed when the clasping mechanism 53 is moved to the inclined section 52a, thereby allowing the positioning portion 11 and the clasping mechanism 53 to be physically separated.
When the clasping mechanism 53 is separated from the positioning portion 11, the follower chain 52 stops moving, and the next clasping mechanism group stops at the receiving station. When the follower chain 52 stops, the encoder does not output a rotation signal to the control system. The next cage and the component to be assembled are moved to the receiving station and the holding mechanism 53 is driven to move, at the moment, the encoder starts to output a rotating signal to the control system, and after the control system receives the rotating signal, the component to be assembled can be determined to enter the station and the real-time position of the component to be assembled starts to be calculated.
In addition, a hand wheel 58 may be provided on one of the guide sprockets 54, and manual adjustment may be performed by the hand wheel 58 when the position of the clasping mechanism 53 deviates from the initial position. It should be noted that when the positioning portion contacts the enclasping mechanism, the enclasping mechanism cannot be located at the annular position of the guide sprocket 54a corresponding to the follow-up chain in fig. 10, so that the first enclasping is prevented from being improper, and a shutdown is caused, therefore, a certain range of initial positions are set, and when the position of the enclasping mechanism deviates from the initial positions, manual adjustment can be performed through the hand wheel.
Obviously, the follow-up positioning mechanism is not limited to be applied to a vehicle assembly production line, and can be applied to any scene needing robot cooperation such as a detection scene, and the follow-up positioning mechanism is used as an 'eye' of a robot, so that accurate positioning and efficient cooperation are realized.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (7)
1. A follow-up positioning mechanism, which is characterized in that: comprises a follow-up chain and a clasping mechanism positioned on the follow-up chain; a retainer for retaining the component to be assembled is arranged on the production line, and the follow-up chain is arranged along the moving track of the retainer and the component to be assembled; a positioning part is arranged on the retainer or the part to be processed, and the positioning part can be contacted with the enclasping mechanism and push the enclasping mechanism to synchronously move; the follow-up chain bypasses the measuring chain wheel, an encoder is arranged on the measuring chain wheel, and the encoder is used for acquiring the rotation angle of the measuring chain wheel in real time;
the follow-up chain forms an inclined section at the tail part of the production line, the inclined section inclines towards the direction away from the retainer and the part to be processed, and when the enclasping mechanism moves to the inclined section, the inclined section is gradually away from the retainer and the part to be processed until the inclined section is separated from the positioning part;
the follow-up positioning mechanism further comprises a supporting rail, wherein the supporting rail is used for supporting the enclasping mechanism;
the support rails are two arranged in parallel; the positioning part extends downwards vertically, and can enter between the two support rails after the retainer and the part to be processed enter the production line.
2. The follower positioning mechanism of claim 1, wherein: the included angle between the inclined section and the horizontal plane is 3-7 degrees.
3. The follower positioning mechanism of claim 1, wherein: the holding mechanism is provided with an accommodating groove for accommodating the positioning part, and a notch of the accommodating groove is provided with a limiting piece for resisting one side, far away from the groove bottom, of the positioning part.
4. A follow-up positioning mechanism as set forth in claim 3, wherein: the limiting piece comprises a swinging block and a reset spring, a wedge-shaped surface is arranged on the side wall of the swinging block, the positioning part can be abutted to the wedge-shaped surface when entering the notch, and the reset spring is propped against one side of the swinging block opposite to the wedge-shaped surface.
5. The follower positioning mechanism of claim 4, wherein: the enclasping mechanism further comprises an installation seat, wherein the installation seat is fixed on the side wall of the accommodating groove, and the swinging block is hinged on the installation seat; a yielding groove is formed in the mounting seat, and the swinging block can enter the yielding groove; one end of the reset spring is propped against the mounting seat, and the other end of the reset spring is propped against the swinging block.
6. The follower positioning mechanism of any one of claims 1-5, wherein: the follow-up chain bypasses a plurality of guide chain wheels to form a ring shape; the enclasping mechanisms are multiple groups, and each enclasping mechanism group is provided with at least one enclasping mechanism; the adjacent enclasping mechanism groups are equally spaced on the follow-up chain in stroke distance.
7. The utility model provides a vehicle assembly line which characterized in that: comprising a follow-up positioning mechanism according to any one of claims 1-6, a manipulator and a control system, wherein an encoder and the manipulator in the follow-up positioning mechanism are connected with the control system; the control system is used for calculating the moving stroke of the positioning part pushing the enclasping mechanism according to the measured sprocket rotating angle obtained by the encoder in real time, so that the moving part to be processed can be positioned in real time according to the moving stroke data, and the control system is used for controlling the mechanical arm to assemble the part to be processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410004019.7A CN117508421B (en) | 2024-01-03 | 2024-01-03 | Follow-up positioning mechanism and vehicle assembly production line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410004019.7A CN117508421B (en) | 2024-01-03 | 2024-01-03 | Follow-up positioning mechanism and vehicle assembly production line |
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| CN117508421A CN117508421A (en) | 2024-02-06 |
| CN117508421B true CN117508421B (en) | 2024-03-08 |
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| CN202410004019.7A Active CN117508421B (en) | 2024-01-03 | 2024-01-03 | Follow-up positioning mechanism and vehicle assembly production line |
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| CN117226498A (en) * | 2023-09-11 | 2023-12-15 | 中国科学院沈阳自动化研究所 | Assembly system for large part butt joint of aero-engine |
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| JP2007107211A (en) * | 2005-10-12 | 2007-04-26 | Nifco Inc | Self-propelling one way mechanism of movable structure |
| CN212192754U (en) * | 2020-04-16 | 2020-12-22 | 安川首钢机器人有限公司 | Shot blasting hanger with 120-degree rotary positioning function |
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|---|---|
| CN117508421A (en) | 2024-02-06 |
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